//
// Created by cybaster on 25-6-7.
//

#include "ocs2_humanoid_robot_controller/controller/HumanoidRobotController.h"

int main(int argc, char **argv) {
  const std::string robotName = "legged_robot";

  ros::init(argc, argv, robotName + "_mpc_controller");
  ros::NodeHandle nodeHandle;

  std::string taskFile, urdfFile, referenceFile;
  nodeHandle.getParam("/taskFile", taskFile);
  nodeHandle.getParam("/referenceFile", referenceFile);
  nodeHandle.getParam("/urdfFile", urdfFile);

  LeggedRobotInterface interface(taskFile, urdfFile, referenceFile);

  HumanoidRobotController controller(interface);
  controller.launchNodes(nodeHandle);

  return 0;
}
